Control of a Quadrotor Using a Smart Self-Tuning Fuzzy PID Controller

This paper deals with the modelling, simulation-based controller design and path planning of a four rotor helicopter known as a quadrotor. All the drags, aerodynamic, coriolis and gyroscopic effect are neglected. A Newton-Euler formulation is used to derive the mathematical model. A smart self-tunin...

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Veröffentlicht in:International journal of advanced robotic systems 2013-11, Vol.10 (11)
Hauptverfasser: Gautam, Deepak, Ha, Cheolkeun
Format: Artikel
Sprache:eng
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Zusammenfassung:This paper deals with the modelling, simulation-based controller design and path planning of a four rotor helicopter known as a quadrotor. All the drags, aerodynamic, coriolis and gyroscopic effect are neglected. A Newton-Euler formulation is used to derive the mathematical model. A smart self-tuning fuzzy PID controller based on an EKF algorithm is proposed for the attitude and position control of the quadrotor. The PID gains are tuned using a self-tuning fuzzy algorithm. The self-tuning of fuzzy parameters is achieved based on an EKF algorithm. A smart selection technique and exclusive tuning of active fuzzy parameters is proposed to reduce the computational time. Dijkstra's algorithm is used for path planning in a closed and known environment filled with obstacles and/or boundaries. The Dijkstra algorithm helps avoid obstacle and find the shortest route from a given initial position to the final position.
ISSN:1729-8806
1729-8814
DOI:10.5772/56911